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esp32-ogn-tracker
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esp32-ogn-tracker/main/ogn1.h

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C++
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#ifndef __OGN1_H__
#define __OGN1_H__
#include <stdio.h>
#include <string.h>
#include <stdint.h>
#include "ognconv.h"
#include "intmath.h"
#include "bitcount.h"
#include "nmea.h"
#include "mavlink.h"
#include "format.h"
// the packet description here is how it look on the little-endian CPU before sending it to the RF chip
// nRF905, CC1101, SPIRIT1, RFM69 chips actually reverse the bit order within every byte
// thus on the air the bits appear MSbit first for every byte transmitted
class OGN1_Packet // Packet structure for the OGN tracker
{ public:
static const int Words = 5;
static const int Bytes = 20;
union
{ uint32_t HeaderWord; // ECRR PMTT AAAA AAAA AAAA AAAA AAAA AAAA
// E=Emergency, C=enCrypt/Custom, RR=Relay count, P=Parity, M=isMeteo/Other, TT=address Type, AA..=Address:24-bit
// When enCrypt/Custom is set the data (position or whatever) can only be decoded by the owner
// This option is indented to pass any type of custom data not foreseen otheriwse
struct
{ unsigned int Address :24; // aircraft address
unsigned int AddrType : 2; // address type: 0 = random, 1 = ICAO, 2 = FLARM, 3 = OGN
unsigned int NonPos : 1; // 0 = position packet, 1 = other information like status
unsigned int Parity : 1; // parity takes into account bits 0..27 thus only the 28 lowest bits
unsigned int Relay : 2; // 0 = direct packet, 1 = relayed once, 2 = relayed twice, ...
unsigned int Encrypted : 1; // packet is encrypted
unsigned int Emergency : 1; // aircraft in emergency (not used for now)
} Header ;
} ;
union
{ uint32_t Data[4]; // 0: QQTT TTTT LLLL LLLL LLLL LLLL LLLL LLLL QQ=fix Quality:2, TTTTTT=time:6, LL..=Latitude:20
// 1: MBDD DDDD LLLL LLLL LLLL LLLL LLLL LLLL F=fixMode:1 B=isBaro:1, DDDDDD=DOP:6, LL..=Longitude:20
// 2: RRRR RRRR SSSS SSSS SSAA AAAA AAAA AAAA RR..=turn Rate:8, SS..=Speed:10, AA..=Alt:14
// 3: BBBB BBBB YYYY PCCC CCCC CCDD DDDD DDDD BB..=Baro altitude:8, YYYY=AcftType:4, P=Stealth:1, CC..=Climb:9, DD..=Heading:10
// meteo/telemetry types: Meteo conditions, Thermal wind/climb, Device status, Precise time,
// meteo report: Humidity, Barometric pressure, Temperature, wind Speed/Direction
// 2: HHHH HHHH SSSS SSSS SSAA AAAA AAAA AAAA
// 3: TTTT TTTT YYYY BBBB BBBB BBDD DDDD DDDD YYYY = report tYpe (meteo, thermal, water level, other telemetry)
// Device status: Time, baro pressure+temperature, GPS altitude, supply voltage, TX power, RF noise, software version, software features, hardware features,
// 0: UUUU UUUU UUUU UUUU UUUU UUUU UUUU UUUU UU..=Unix time
// 1: SSSS SSSS SSSS SSSS TTTT TTTT HHHH HHHH SS..=slot time, TT..=temperature, HH..=humidity
// 2: BBBB BBBB BBBB BBBB BBAA AAAA AAAA AAAA Baro pressure[0.5Pa], GPS altitude
// 3: VVVV VVVV YYYY HHHH HHHH XXXX VVVV VVVV VV..=firmware version, YYYY = report type, TT..=Temperatature, XX..=TxPower, VV..=battery voltage
// Pilot status:
// 0: NNNN NNNN NNNN NNNN NNNN NNNN NNNN NNNN Name: 9 char x 7bit or 10 x 6bit or Huffman encoding ?
// 1: NNNN NNNN NNNN NNNN NNNN NNNN NNNN NNNN
struct
{ signed int Latitude:24; // // QQTT TTTT LLLL LLLL LLLL LLLL LLLL LLLL QQ=fix Quality:2, TTTTTT=time:6, LL..=Latitude:24
unsigned int Time: 6; // [sec] // time, just second thus ambiguity every every minute
unsigned int FixQuality: 2; // // 0 = none, 1 = GPS, 2 = Differential GPS (can be WAAS)
signed int Longitude:24; // // MBDD DDDD LLLL LLLL LLLL LLLL LLLL LLLL F=fixMode:1 B=isBaro:1, DDDDDD=DOP:6, LL..=Longitude:24
unsigned int DOP: 6; // // GPS Dilution of Precision
unsigned int BaroMSB: 1; // // negated bit #8 of the altitude difference between baro and GPS
unsigned int FixMode: 1; // // 0 = 2-D, 1 = 3-D
unsigned int Altitude:14; // [m] VR // RRRR RRRR SSSS SSSS SSAA AAAA AAAA AAAA RR..=turn Rate:8, SS..=Speed:10, AA..=Alt:14
unsigned int Speed:10; // [0.1m/s] VR
unsigned int TurnRate: 8; // [0.1deg/s] VR
unsigned int Heading:10; // [360/1024deg] // BBBB BBBB YYYY PCCC CCCC CCDD DDDD DDDD BB..=Baro altitude:8, YYYY=AcftType:4, P=Stealth:1, CC..=Climb:9, DD..=Heading:10
unsigned int ClimbRate: 9; // [0.1m/s] VR // rate of climb/decent from GPS or from baro sensor
unsigned int Stealth: 1; // // not really used till now
unsigned int AcftType: 4; // [0..15] // type of aircraft: 1 = glider, 2 = towplane, 3 = helicopter, ...
unsigned int BaroAltDiff: 8; // [m] // lower 8 bits of the altitude difference between baro and GPS
} Position;
struct
{ unsigned int Pulse : 8; // [bpm] // pilot: heart pulse rate
unsigned int Oxygen : 7; // [%] // pilot: oxygen level in the blood
unsigned int FEScurr : 5; // [A] // FES current
unsigned int RxRate : 4; // [/min] // log2 of received packet rate
unsigned int Time : 6; // [sec] // same as in the position packet
unsigned int FixQuality: 2;
unsigned int AudioNoise: 8; // [dB] //
unsigned int RadioNoise: 8; // [dBm] // noise seen by the RF chip
unsigned int Temperature:8; // [0.1degC] VR // temperature by the baro or RF chip
unsigned int Humidity : 8; // [0.1%] VR // humidity
unsigned int Altitude :14; // [m] VR // same as in the position packet
unsigned int Pressure :14; // [0.08hPa] // barometric pressure
unsigned int Satellites: 4; // [ ]
unsigned int Firmware : 8; // [ ] // firmware version
unsigned int Hardware : 8; // [ ] // hardware version
unsigned int TxPower : 4; // [dBm] // RF trancmitter power
unsigned int ReportType: 4; // [0] // 0 for the status report
unsigned int Voltage : 8; // [1/64V] VR // supply/battery voltage
} Status;
union
{ uint8_t Byte[16];
struct
{ uint8_t Data[14]; // [16x7bit]packed string of 16-char: 7bit/char
uint8_t DataChars: 4; // [int] number of characters in the packed string
uint8_t ReportType: 4; // [1] // 1 for the Info packets
uint8_t Check; // CRC check
} ;
} Info;
struct
{ signed int Latitude:24; // // Latitude of the measurement
unsigned int Time: 6; // [sec] // time, just second thus ambiguity every every minute
unsigned int : 2; // // spare
signed int Longitude:24; // // Longitude of the measurement
unsigned int : 6; // // spare
unsigned int BaroMSB: 1; // // negated bit #8 of the altitude difference between baro and GPS
unsigned int : 1; // // spare
unsigned int Altitude:14; // [m] VR // Altitude of the measurement
unsigned int Speed:10; // [0.1m/s] VR // Horizontal wind speed
unsigned int : 8; // // spare
unsigned int Heading:10; // // Wind direction
unsigned int ClimbRate: 9; // [0.1m/s] VR // Vertical wind speed
unsigned int : 1; // // spare
unsigned int ReportType: 4; // // 2 for wind/thermal report
unsigned int BaroAltDiff: 8; // [m] // lower 8 bits of the altitude difference between baro and GPS
} Wind;
} ;
uint8_t *Byte(void) const { return (uint8_t *)&HeaderWord; } // packet as bytes
uint32_t *Word(void) const { return (uint32_t *)&HeaderWord; } // packet as words
// void recvBytes(const uint8_t *SrcPacket) { memcpy(Byte(), SrcPacket, Bytes); } // load data bytes e.g. from a demodulator
static const uint8_t InfoParmNum = 12; // [int] number of info-parameters and their names
static const char *InfoParmName(uint8_t Idx) { static const char *Name[InfoParmNum] =
{ "Pilot", "Manuf", "Model", "Type", "SN", "Reg", "ID", "Class",
"Task" , "Base" , "ICE" , "PilotID" } ;
return Idx<InfoParmNum ? Name[Idx]:0; }
#ifndef __AVR__
void Dump(void) const
{ printf("%08lX: %08lX %08lX %08lX %08lX\n",
(long int)HeaderWord, (long int)Data[0], (long int)Data[1],
(long int)Data[2], (long int)Data[3] ); }
void DumpBytes(void) const
{ for(uint8_t Idx=0; Idx<Bytes; Idx++)
{ printf(" %02X", Byte()[Idx]); }
printf("\n"); }
int WriteDeviceStatus(char *Out)
{ return sprintf(Out, " h%02X v%02X %dsat/%d %ldm %3.1fhPa %+4.1fdegC %3.1f%% %4.2fV %d/%+4.1fdBm %d/min",
Status.Hardware, Status.Firmware, Status.Satellites, Status.FixQuality, (long int)DecodeAltitude(),
0.08*Status.Pressure, 0.1*DecodeTemperature(), 0.1*DecodeHumidity(),
(1.0/64)*DecodeVoltage(), Status.TxPower+4, -0.5*Status.RadioNoise, (1<<Status.RxRate)-1 );
}
int WriteDeviceInfo(char *Out)
{ int Len=0;
char Value[16];
uint8_t InfoType;
uint8_t Idx=0;
for( ; ; )
{ uint8_t Chars = readInfo(Value, InfoType, Idx);
if(Chars==0) break;
if(InfoType<InfoParmNum)
{ Len += sprintf(Out+Len, " %s=%s", InfoParmName(InfoType), Value); }
else
{ Len += sprintf(Out+Len, " #%d=%s", InfoType, Value); }
Idx+=Chars; }
Out[Len]=0; return Len; }
void Print(void) const
{ if(!Header.NonPos) { PrintPosition(); return; }
if(Status.ReportType==0) { PrintDeviceStatus(); return; }
if(Status.ReportType==1) { PrintDeviceInfo(); return; }
}
void PrintDeviceInfo(void) const
{ printf("%c:%06lX R%c%c%c:",
'0'+Header.AddrType, (long int)Header.Address, '0'+Header.Relay, Header.Emergency?'E':' ', goodInfoCheck()?'+':'-');
char Value[16];
uint8_t InfoType;
uint8_t Idx=0;
for( ; ; )
{ uint8_t Chars = readInfo(Value, InfoType, Idx);
if(Chars==0) break;
if(InfoType<InfoParmNum)
{ printf(" %s=%s", InfoParmName(InfoType), Value); }
else
{ printf(" #%d=%s", InfoType, Value); }
Idx+=Chars; }
printf("\n");
}
void PrintDeviceStatus(void) const
{ printf("%c:%06lX R%c%c %02ds:",
'0'+Header.AddrType, (long int)Header.Address, '0'+Header.Relay, Header.Emergency?'E':' ', Status.Time);
printf(" h%02X v%02X %dsat/%d %ldm %3.1fhPa %+4.1fdegC %3.1f%% %4.2fV Tx:%ddBm Rx:%+4.1fdBm %d/min",
Status.Hardware, Status.Firmware, Status.Satellites, Status.FixQuality, (long int)DecodeAltitude(),
0.08*Status.Pressure, 0.1*DecodeTemperature(), 0.1*DecodeHumidity(),
(1.0/64)*DecodeVoltage(), Status.TxPower+4, -0.5*Status.RadioNoise, (1<<Status.RxRate)-1 );
printf("\n");
}
void PrintPosition(void) const
{ printf("%c%X:%c:%06lX R%c%c",
Position.Stealth ?'s':' ', (int)Position.AcftType, '0'+Header.AddrType, (long int)Header.Address, '0'+Header.Relay,
Header.Emergency?'E':' ');
printf(" %d/%dD/%4.1f", (int)Position.FixQuality, (int)Position.FixMode+2, 0.1*(10+DecodeDOP()) );
if(Position.Time<60) printf(" %02ds:", (int)Position.Time);
else printf(" ---:");
printf(" [%+10.6f, %+11.6f]deg %ldm",
0.0001/60*DecodeLatitude(), 0.0001/60*DecodeLongitude(), (long int)DecodeAltitude() );
if(hasBaro())
{ printf("[%+dm]", (int)getBaroAltDiff() ); }
printf(" %3.1fm/s %05.1fdeg %+4.1fm/s %+4.1fdeg/s",
0.1*DecodeSpeed(), 0.1*DecodeHeading(), 0.1*DecodeClimbRate(), 0.1*DecodeTurnRate() );
printf("\n");
}
void Encode(MAV_ADSB_VEHICLE *MAV)
{ MAV->ICAO_address = HeaderWord&0x03FFFFFF;
MAV->lat = ((int64_t)50*DecodeLatitude()+1)/3;
MAV->lon = ((int64_t)50*DecodeLongitude()+1)/3;
MAV->altitude = 1000*DecodeAltitude();
MAV->heading = 10*DecodeHeading();
MAV->hor_velocity = 10*DecodeSpeed();
MAV->ver_velocity = 10*DecodeClimbRate();
MAV->flags = 0x17;
MAV->altitude_type = 1;
MAV->callsign[0] = 0;
MAV->tslc = 0;
MAV->emiter_type = 0; }
static const char *getAprsIcon(uint8_t AcftType)
{ static const char *AprsIcon[16] = // Icons for various FLARM acftType's
{ "/z", // 0 = ?
"/'", // 1 = (moto-)glider (most frequent)
"/'", // 2 = tow plane (often)
"/X", // 3 = helicopter (often)
"/g" , // 4 = parachute (rare but seen - often mixed with drop plane)
"\\^", // 5 = drop plane (seen)
"/g" , // 6 = hang-glider (rare but seen)
"/g" , // 7 = para-glider (rare but seen)
"\\^", // 8 = powered aircraft (often)
"/^", // 9 = jet aircraft (rare but seen)
"/z", // A = UFO (people set for fun)
"/O", // B = balloon (seen once)
"/O", // C = airship (seen once)
"/'", // D = UAV (drones, can become very common)
"/z", // E = ground support (ground vehicles at airfields)
"\\n" // F = static object (ground relay ?)
} ;
return AcftType<16 ? AprsIcon[AcftType]:0;
}
int8_t ReadAPRS(const char *Msg) // read an APRS position message
{ Clear();
const char *Data = strchr(Msg, ':'); if(Data==0) return -1; // where the time/position data starts
Data++;
const char *Dest = strchr(Msg, '>'); if(Dest==0) return -1; // where the destination call is
Dest++;
const char *Comma = strchr(Dest, ','); // the first comma after the destination call
Position.AcftType=0xF;
uint8_t AddrType;
uint32_t Address;
if(memcmp(Msg, "RND", 3)==0) AddrType=0;
else if(memcmp(Msg, "ICA", 3)==0) AddrType=1;
else if(memcmp(Msg, "FLR", 3)==0) AddrType=2;
else if(memcmp(Msg, "OGN", 3)==0) AddrType=3;
else AddrType=4;
if(AddrType<4)
{ if(Read_Hex(Address, Msg+3)==6) Header.Address=Address;
Header.AddrType=AddrType; }
if(Comma)
{ if(memcmp(Comma+1, "RELAY*" , 6)==0) Header.Relay=1;
else if(Comma[10]=='*') Header.Relay=1;
}
if(Data[0]!='/') return -1;
int8_t Time;
if(Data[7]=='h') // HHMMSS UTC time
{ Time=Read_Dec2(Data+5); if(Time<0) return -1; }
else if(Data[7]=='z') // DDHHMM UTC time
{ Time=0; }
else return -1;
Position.Time=Time;
Data+=8;
Position.FixMode=1;
Position.FixQuality=1;
EncodeDOP(0xFF);
int8_t LatDeg = Read_Dec2(Data); if(LatDeg<0) return -1;
int8_t LatMin = Read_Dec2(Data+2); if(LatMin<0) return -1;
if(Data[4]!='.') return -1;
int8_t LatFrac = Read_Dec2(Data+5); if(LatFrac<0) return -1;
int32_t Latitude = (int32_t)LatDeg*600000 + (int32_t)LatMin*10000 + (int32_t)LatFrac*100;
char LatSign = Data[7];
Data+=8+1;
int16_t LonDeg = Read_Dec3(Data); if(LonDeg<0) return -1;
int8_t LonMin = Read_Dec2(Data+3); if(LonMin<0) return -1;
if(Data[5]!='.') return -1;
int8_t LonFrac = Read_Dec2(Data+6); if(LonFrac<0) return -1;
int32_t Longitude = (int32_t)LonDeg*600000 + (int32_t)LonMin*10000 + (int32_t)LonFrac*100;
char LonSign = Data[8];
Data+=9+1;
int16_t Speed=0;
int16_t Heading=0;
if(Data[3]=='/')
{ Heading=Read_Dec3(Data);
Speed=Read_Dec3(Data+4);
Data+=7; }
EncodeHeading(Heading*10);
EncodeSpeed(((int32_t)Speed*337146+0x8000)>>16);
uint32_t Altitude=0;
if( (Data[0]=='/') && (Data[1]=='A') && (Data[2]=='=') && (Read_UnsDec(Altitude, Data+3)==6) )
{ Data+=9; }
EncodeAltitude(FeetToMeters(Altitude));
for( ; ; )
{ if(Data[0]!=' ') break;
Data++;
if( (Data[0]=='!') && (Data[1]=='W') && (Data[4]=='!') )
{ Latitude += (Data[2]-'0')*10;
Longitude += (Data[3]-'0')*10;
Data+=5; continue; }
if( (Data[0]=='i') && (Data[1]=='d') )
{ uint32_t ID; Read_Hex(ID, Data+2);
Header.Address = ID&0x00FFFFFF;
Header.AddrType = (ID>>24)&0x03;
Position.AcftType = (ID>>26)&0x0F;
Position.Stealth = ID>>31;
Data+=10; continue; }
if( (Data[0]=='F') && (Data[1]=='L') && (Data[5]=='.') )
{ int16_t FLdec=Read_Dec3(Data+2);
int16_t FLfrac=Read_Dec2(Data+6);
if( (FLdec>=0) && (FLfrac>=0) )
{ uint32_t StdAlt = FLdec*100+FLfrac;
EncodeStdAltitude(FeetToMeters(StdAlt)); }
Data+=8; continue; }
if( (Data[0]=='+') || (Data[0]=='-') )
{ int32_t Value; int8_t Len=Read_Float1(Value, Data);
if(Len>0)
{ Data+=Len;
if(memcmp(Data, "fpm", 3)==0) { EncodeClimbRate((333*Value+0x8000)>>16); Data+=3; continue; }
if(memcmp(Data, "rot", 3)==0) { EncodeTurnRate(3*Value); Data+=3; continue; }
}
}
if( (Data[0]=='g') && (Data[1]=='p') && (Data[2]=='s') )
{ int16_t HorPrec=Read_Dec2(Data+3);
if(HorPrec<0) HorPrec=Read_Dec1(Data[3]);
if(HorPrec>=0)
{ uint16_t DOP=HorPrec*5; if(DOP<10) DOP=10; else if(DOP>230) DOP=230;
EncodeDOP(DOP-10); Data+=5; }
}
while(Data[0]>' ') Data++;
}
if(LatSign=='S') Latitude=(-Latitude); else if(LatSign!='N') return -1;
EncodeLatitude(Latitude);
if(LonSign=='W') Longitude=(-Longitude); else if(LonSign!='E') return -1;
EncodeLongitude(Longitude);
return 0; }
uint8_t WriteAPRS(char *Msg, uint32_t Time, const char *ProtName="APRS") // write an APRS position message
{ uint8_t Len=0;
static const char *AddrTypeName[4] = { "RND", "ICA", "FLR", "OGN" } ;
memcpy(Msg+Len, AddrTypeName[Header.AddrType], 3); Len+=3;
Len+=Format_Hex(Msg+Len, (uint8_t)(Header.Address>>16));
Len+=Format_Hex(Msg+Len, (uint16_t)(Header.Address));
Msg[Len++] = '>';
uint8_t ProtLen = strlen(ProtName);
memcpy(Msg+Len, ProtName, ProtLen); Len+=ProtLen;
if(Header.Relay)
{ memcpy(Msg+Len, ",RELAY*", 7); Len+=7; }
Msg[Len++] = ':';
if(Position.Time<60)
{ uint32_t DayTime=Time%86400; int Sec=DayTime%60; // second of the time the packet was recevied
int DiffSec=Position.Time-Sec; if(DiffSec>4) DiffSec-=60; // difference should always be zero or negative, but can be small positive for predicted positions
Time+=DiffSec; } // get out the correct position time
Msg[Len++] = '/';
Len+=Format_HHMMSS(Msg+Len, Time);
Msg[Len++] = 'h';
const char *Icon = getAprsIcon(Position.AcftType);
int32_t Lat = DecodeLatitude();
bool NegLat = Lat<0; if(NegLat) Lat=(-Lat);
uint32_t LatDeg = Lat/600000;
Len+=Format_UnsDec(Msg+Len, LatDeg, 2);
Lat -= LatDeg*600000;
uint32_t LatMin = Lat/100;
Len+=Format_UnsDec(Msg+Len, LatMin, 4, 2);
Lat -= LatMin*100;
Msg[Len++] = NegLat ? 'S':'N';
Msg[Len++] = Icon[0];
int32_t Lon = DecodeLongitude();
bool NegLon = Lon<0; if(NegLon) Lon=(-Lon);
uint32_t LonDeg = Lon/600000;
Len+=Format_UnsDec(Msg+Len, LonDeg, 3);
Lon -= LonDeg*600000;
uint32_t LonMin = Lon/100;
Len+=Format_UnsDec(Msg+Len, LonMin, 4, 2);
Lon -= LonMin*100;
Msg[Len++] = NegLon ? 'W':'E';
Msg[Len++] = Icon[1];
Len+=Format_UnsDec(Msg+Len, (DecodeHeading()+5)/10, 3);
Msg[Len++] = '/';
Len+=Format_UnsDec(Msg+Len, (199*DecodeSpeed()+512)>>10, 3);
Msg[Len++] = '/'; Msg[Len++] = 'A'; Msg[Len++] = '='; Len+=Format_UnsDec(Msg+Len, MetersToFeet(DecodeAltitude()), 6);
Msg[Len++] = ' ';
Msg[Len++] = '!';
Msg[Len++] = 'W';
Msg[Len++] = '0'+(Lat+5)/10;
Msg[Len++] = '0'+(Lon+5)/10;
Msg[Len++] = '!';
Msg[Len++] = ' '; Msg[Len++] = 'i'; Msg[Len++] = 'd'; Len+=Format_Hex(Msg+Len, ((uint32_t)Position.AcftType<<26) | ((uint32_t)Header.AddrType<<24) | Header.Address);
Msg[Len++] = ' '; Len+=Format_SignDec(Msg+Len, (10079*DecodeClimbRate()+256)>>9, 3); Msg[Len++] = 'f'; Msg[Len++] = 'p'; Msg[Len++] = 'm';
Msg[Len++] = ' '; Len+=Format_SignDec(Msg+Len, DecodeTurnRate()/3, 2, 1); Msg[Len++] = 'r'; Msg[Len++] = 'o'; Msg[Len++] = 't';
if(hasBaro())
{ int32_t Alt = DecodeStdAltitude();
if(Alt<0) Alt=0;
Msg[Len++] = ' '; Msg[Len++] = 'F'; Msg[Len++] = 'L';
Len+=Format_UnsDec(Msg+Len, MetersToFeet((uint32_t)Alt), 5, 2); }
uint16_t DOP=10+DecodeDOP();
uint16_t HorPrec=(DOP*2+5)/10; if(HorPrec>63) HorPrec=63;
uint16_t VerPrec=(DOP*3+5)/10; if(VerPrec>63) VerPrec=63;
Msg[Len++] = ' '; Msg[Len++] = 'g'; Msg[Len++] = 'p'; Msg[Len++] = 's';
Len+=Format_UnsDec(Msg+Len, HorPrec); Msg[Len++] = 'x'; Len+=Format_UnsDec(Msg+Len, VerPrec);
Msg[Len++]='\n';
Msg[Len]=0;
return Len; }
#endif // __AVR__
// calculate distance vector [LatDist, LonDist] from a given reference [RefLat, Reflon]
int calcDistanceVector(int32_t &LatDist, int32_t &LonDist, int32_t RefLat, int32_t RefLon, uint16_t LatCos=3000, int32_t MaxDist=0x7FFF)
{ LatDist = ((DecodeLatitude()-RefLat)*1517+0x1000)>>13; // convert from 1/600000deg to meters (40000000m = 360deg) => x 5/27 = 1517/(1<<13)
if(abs(LatDist)>MaxDist) return -1;
LonDist = ((DecodeLongitude()-RefLon)*1517+0x1000)>>13;
if(abs(LonDist)>(4*MaxDist)) return -1;
LonDist = (LonDist*LatCos+0x800)>>12;
if(abs(LonDist)>MaxDist) return -1;
return 1; }
// sets position [Lat, Lon] according to given distance vector [LatDist, LonDist] from a reference point [RefLat, RefLon]
void setDistanceVector(int32_t LatDist, int32_t LonDist, int32_t RefLat, int32_t RefLon, uint16_t LatCos=3000)
{ EncodeLatitude(RefLat+(LatDist*27)/5);
LonDist = (LonDist<<12)/LatCos; // LonDist/=cosine(Latitude)
EncodeLongitude(RefLon+(LonDist*27)/5); }
// Centripetal acceleration
static int16_t calcCPaccel(int16_t Speed, int16_t TurnRate) { return ((int32_t)TurnRate*Speed*229+0x10000)>>17; } // [0.1m/s^2]
int16_t calcCPaccel(void) { return calcCPaccel(DecodeSpeed(), DecodeTurnRate()); }
// Turn radius
static int16_t calcTurnRadius(int16_t Speed, int16_t TurnRate, int16_t MaxRadius=0x7FFF) // [m] ([0.1m/s], [], [m])
{ if(TurnRate==0) return 0;
int32_t Radius = 14675*Speed;
Radius /= TurnRate; Radius = (Radius+128)>>8;
if(abs(Radius)>MaxRadius) return 0;
return Radius; }
int16_t calcTurnRadius(int16_t MaxRadius=0x7FFF) { return calcTurnRadius(DecodeSpeed(), DecodeTurnRate(), MaxRadius); }
uint8_t Print(char *Out) const
{ uint8_t Len=0;
Out[Len++]=HexDigit(Position.AcftType); Out[Len++]=':';
Out[Len++]='0'+Header.AddrType; Out[Len++]=':';
uint32_t Addr = Header.Address;
Len+=Format_Hex(Out+Len, (uint8_t)(Addr>>16));
Len+=Format_Hex(Out+Len, (uint16_t)Addr);
Out[Len++]=' ';
// Len+=Format_SignDec(Out+Len, -(int16_t)RxRSSI/2); Out[Len++]='d'; Out[Len++]='B'; Out[Len++]='m';
// Out[Len++]=' ';
Len+=Format_UnsDec(Out+Len, (uint16_t)Position.Time, 2);
Out[Len++]=' ';
Len+=Format_Latitude(Out+Len, DecodeLatitude());
Out[Len++]=' ';
Len+=Format_Longitude(Out+Len, DecodeLongitude());
Out[Len++]=' ';
Len+=Format_UnsDec(Out+Len, (uint32_t)DecodeAltitude()); Out[Len++]='m';
Out[Len++]=' ';
Len+=Format_UnsDec(Out+Len, DecodeSpeed(), 2, 1); Out[Len++]='m'; Out[Len++]='/'; Out[Len++]='s';
Out[Len++]=' ';
Len+=Format_SignDec(Out+Len, DecodeClimbRate(), 2, 1); Out[Len++]='m'; Out[Len++]='/'; Out[Len++]='s';
Out[Len++]='\n'; Out[Len]=0;
return Len; }
// OGN1_Packet() { Clear(); }
void Clear(void) { HeaderWord=0; Data[0]=0; Data[1]=0; Data[2]=0; Data[3]=0; }
uint32_t getAddressAndType(void) const { return HeaderWord&0x03FFFFFF; } // Address with address-type: 26-bit
void setAddressAndType(uint32_t AddrAndType) { HeaderWord = (HeaderWord&0xFC000000) | (AddrAndType&0x03FFFFFF); }
bool goodAddrParity(void) const { return ((Count1s(HeaderWord&0x0FFFFFFF)&1)==0); } // Address parity should be EVEN
void calcAddrParity(void) { if(!goodAddrParity()) HeaderWord ^= 0x08000000; } // if not correct parity, flip the parity bit
void EncodeLatitude(int32_t Latitude) // encode Latitude: units are 0.0001/60 degrees
{ Position.Latitude = Latitude>>3; }
int32_t DecodeLatitude(void) const
{ int32_t Latitude = Position.Latitude;
// if(Latitude&0x00800000) Latitude|=0xFF000000;
Latitude = (Latitude<<3)+4; return Latitude; }
void EncodeLongitude(int32_t Longitude) // encode Longitude: units are 0.0001/60 degrees
{ Position.Longitude = Longitude>>=4; }
int32_t DecodeLongitude(void) const
{ int32_t Longitude = Position.Longitude;
Longitude = (Longitude<<4)+8; return Longitude; }
bool hasBaro(void) const { return Position.BaroMSB || Position.BaroAltDiff; }
void clrBaro(void) { Position.BaroMSB=0; Position.BaroAltDiff=0; }
int16_t getBaroAltDiff(void) const { int16_t AltDiff=Position.BaroAltDiff; if(Position.BaroMSB==0) AltDiff|=0xFF00; return AltDiff; }
void setBaroAltDiff(int32_t AltDiff)
{ if(AltDiff<(-255)) AltDiff=(-255); else if(AltDiff>255) AltDiff=255;
Position.BaroMSB = (AltDiff&0xFF00)==0; Position.BaroAltDiff=AltDiff&0xFF; }
void EncodeStdAltitude(int32_t StdAlt) { setBaroAltDiff((StdAlt-DecodeAltitude())); }
int32_t DecodeStdAltitude(void) const { return (DecodeAltitude()+getBaroAltDiff()); }
void EncodeAltitude(int32_t Altitude) // encode altitude in meters
{ if(Altitude<0) Altitude=0;
Position.Altitude = UnsVRencode<uint16_t, 12>((uint16_t)Altitude); }
// Position.Altitude = EncodeUR2V12((uint16_t)Altitude); }
int32_t DecodeAltitude(void) const // return Altitude in meters
{ return UnsVRdecode<uint16_t, 12>(Position.Altitude); }
// { return DecodeUR2V12(Position.Altitude); }
void EncodeDOP(uint8_t DOP)
{ Position.DOP = UnsVRencode<uint8_t, 4>(DOP); }
// { Position.DOP = EncodeUR2V4(DOP); }
uint8_t DecodeDOP(void) const
{ return UnsVRdecode<uint8_t, 4>(Position.DOP); }
// { return DecodeUR2V4(Position.DOP); }
void EncodeSpeed(int16_t Speed) // speed in 0.2 knots (or 0.1m/s)
{ if(Speed<0) Speed=0;
else Speed = UnsVRencode<uint16_t, 8>(Speed); // EncodeUR2V8(Speed);
Position.Speed = Speed; }
int16_t DecodeSpeed(void) const // return speed in 0.2 knots or 0.1m/s units
{ return UnsVRdecode<uint16_t, 8>(Position.Speed); }
// { return DecodeUR2V8(Position.Speed); } // => max. speed: 3832*0.2 = 766 knots
int16_t DecodeHeading(void) const // return Heading in 0.1 degree units 0..359.9 deg
{ int32_t Heading = Position.Heading;
return (Heading*3600+512)>>10; }
void EncodeHeading(int16_t Heading)
{ Position.Heading = (((int32_t)Heading<<10)+180)/3600; }
void setHeadingAngle(uint16_t HeadingAngle)
{ Position.Heading = (((HeadingAngle+32)>>6)); }
uint16_t getHeadingAngle(void) const
{ return (uint16_t)Position.Heading<<6; }
void clrTurnRate(void) { Position.TurnRate=0x80; }
bool hasTurnRate(void) const { return Position.TurnRate==0x80; }
void EncodeTurnRate(int16_t Turn) // [0.1 deg/sec]
{ Position.TurnRate = EncodeSR2V5(Turn); }
int16_t DecodeTurnRate(void) const
{ return DecodeSR2V5(Position.TurnRate); }
void clrClimbRate(void) { Position.ClimbRate=0x100; }
bool hasClimbRate(void) const { return Position.ClimbRate==0x100; }
void EncodeClimbRate(int16_t Climb)
{ Position.ClimbRate = EncodeSR2V6(Climb); }
int16_t DecodeClimbRate(void) const
{ return DecodeSR2V6(Position.ClimbRate); }
// --------------------------------------------------------------------------------------------------------------
// Status fields
void clrTemperature(void) { Status.Temperature=0x80; }
bool hasTemperature(void) const { return Status.Temperature!=0x80; }
void EncodeTemperature(int16_t Temp) { Status.Temperature=EncodeSR2V5(Temp-200); } // [0.1degC]
int16_t DecodeTemperature(void) const { return 200+DecodeSR2V5(Status.Temperature); }
void EncodeVoltage(uint16_t Voltage) { Status.Voltage=EncodeUR2V6(Voltage); } // [1/64V]
uint16_t DecodeVoltage(void) const { return DecodeUR2V6(Status.Voltage); }
void clrHumidity(void) { Status.Humidity=0x80; }
bool hasHumidity(void) const { return Status.Humidity!=0x80; }
void EncodeHumidity(uint16_t Hum) { Status.Humidity=EncodeSR2V5((int16_t)(Hum-520)); } // [0.1%]
uint16_t DecodeHumidity(void) const { return 520+DecodeSR2V5(Status.Humidity); }
// --------------------------------------------------------------------------------------------------------------
// Info fields: pack and unpack 7-bit char into the Info packets
void setInfoChar(uint8_t Char, uint8_t Idx) // put 7-bit Char onto give position
{ if(Idx>=16) return; // Idx = 0..15
Char&=0x7F;
uint8_t BitIdx = Idx*7; // [bits] bit index to the target field
Idx = BitIdx>>3; // [bytes] index of the first byte to change
uint8_t Ofs = BitIdx&0x07;
if(Ofs==0) { Info.Data[Idx] = (Info.Data[Idx]&0x80) | Char ; return; }
if(Ofs==1) { Info.Data[Idx] = (Info.Data[Idx]&0x01) | (Char<<1) ; return; }
uint8_t Len1 = 8-Ofs;
uint8_t Len2 = Ofs-1;
uint8_t Msk1 = 0xFF; Msk1<<=Ofs;
uint8_t Msk2 = 0x01; Msk2 = (Msk2<<Len2)-1;
Info.Data[Idx ] = (Info.Data[Idx ]&(~Msk1)) | (Char<<Ofs);
Info.Data[Idx+1] = (Info.Data[Idx+1]&(~Msk2)) | (Char>>Len1); }
uint8_t getInfoChar(uint8_t Idx) const // get 7-bit Char from given position
{ if(Idx>=16) return 0; // Idx = 0..15
uint8_t BitIdx = Idx*7; // [bits] bit index to the target field
Idx = BitIdx>>3; // [bytes] index of the first byte to change
uint8_t Ofs = BitIdx&0x07;
if(Ofs==0) return Info.Data[Idx]&0x7F;
if(Ofs==1) return Info.Data[Idx]>>1;
uint8_t Len = 8-Ofs;
return (Info.Data[Idx]>>Ofs) | ((Info.Data[Idx+1]<<Len)&0x7F); }
void clrInfo(void) // clear the info packet
{ Info.DataChars=0; // clear number of characters
Info.ReportType=1; } // just in case: set the report-type
uint8_t addInfo(const char *Value, uint8_t InfoType) // add an info field
{ uint8_t Idx=Info.DataChars; // number of characters already in the info packet
if(Idx) Idx++; // if at least one already, then skip over the terminator
if(Idx>=15) return 0;
uint8_t Len=0;
for( ; ; )
{ uint8_t Char = Value[Len]; if(Char==0) break;
if(Idx>=15) return 0;
setInfoChar(Char, Idx++);
Len++; }
setInfoChar(InfoType, Idx); // terminating character
Info.DataChars=Idx; // update number of characters
return Len+1; } // return number of added Value characters
uint8_t readInfo(char *Value, uint8_t &InfoType, uint8_t ValueIdx=0) const
{ uint8_t Len=0; // count characters in the info-string
uint8_t Chars = Info.DataChars; // total number of characters in the record
char Char=0;
for( ; ; ) // loop over characters
{ if((ValueIdx+Len)>Chars) return 0; // return failure if overrun the data
Char = getInfoChar(ValueIdx+Len); // get the character
if(Char<0x20) break; // if less than 0x20 (space) then this is the terminator
Value[Len++]=Char; }
Value[Len]=0; // null-terminate the infor string
InfoType=Char; // get the info-type: Pilot, Type, etc.
return Len+1; } // return number of character taken thus info length + terminator
uint8_t InfoCheck(void) const
{ uint8_t Check=0;
for( uint8_t Idx=0; Idx<15; Idx++)
{ Check ^= Info.Byte[Idx]; }
// printf("Check = %02X\n", Check);
return Check; }
void setInfoCheck(void)
{ Info.Check = InfoCheck();
// printf("Check = %02X\n", Info.Check);
}
uint8_t goodInfoCheck(void) const
{ return Info.Check == InfoCheck(); }
// --------------------------------------------------------------------------------------------------------------
void Whiten (void) { TEA_Encrypt_Key0(Data, 8); TEA_Encrypt_Key0(Data+2, 8); } // whiten the position
void Dewhiten(void) { TEA_Decrypt_Key0(Data, 8); TEA_Decrypt_Key0(Data+2, 8); } // de-whiten the position
uint8_t getTxSlot(uint8_t Idx) const // Idx=0..15
{ const uint32_t *DataPtr = Data;
uint32_t Mask=1; Mask<<=Idx;
uint8_t Slot=0;
for(uint8_t Bit=0; Bit<6; Bit++)
{ Slot>>=1;
if(DataPtr[Bit]&Mask) Slot|=0x20;
Mask<<=1; Slot>>=1; }
return EncodeGray(Slot); }
} ;
#endif // of __OGN1_H__
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